摘 要
随着智能交通系统和自动驾驶技术的快速发展，车辆动力学模型的研究在提升车辆操控性、稳定性和安全性方面具有重要意义。本研究旨在建立一种高精度的车辆动力学模型并进行仿真分析，以揭示复杂工况下车辆动态响应特性。为此，基于经典轮胎力学理论与多体动力学原理，构建了包含悬挂系统、转向系统及轮胎-路面交互作用的综合动力学模型，并引入非线性因素以提高模型的适用性。通过MATLAB/Simulink平台实现模型的数值仿真，结合实车试验数据对模型参数进行标定与验证。结果表明，所建立的模型能够准确预测车辆在不同驾驶条件下的动态行为，特别是在极限工况下的侧向稳定性与纵向附着性能。此外，本研究提出了一种改进的轮胎力计算方法，显著提升了模型在湿滑路面条件下的预测精度。该研究成果为后续控制算法设计及虚拟测试提供了可靠的理论基础，同时为自动驾驶系统的开发奠定了重要支撑。
关键词：车辆动力学模型；轮胎力计算；多体动力学；侧向稳定性；湿滑路面条件
Abstract
With the rapid development of intelligent transportation systems and autonomous driving technologies, the study of vehicle dynamics models plays a significant role in enhancing vehicle maneuverability, stability, and safety. This research aims to establish a high-precision vehicle dynamics model and conduct simulation analysis to reveal the dynamic response characteristics of vehicles under complex operating conditions. Based on classical tire mechanics theory and multibody dynamics principles, an integrated dynamics model was constructed, incorporating the suspension system, steering system, and tire-road interaction effects, with nonlinear factors introduced to improve model applicability. The numerical simulation of the model was implemented using the MATLAB/Simulink platform, and the model parameters were calibrated and validated against real-vehicle experimental data. The results indicate that the developed model can accurately predict vehicle dynamic behavior under various driving conditions, particularly lateral stability and longitudinal adhesion performance under extreme conditions. Additionally, an improved method for tire force calculation was proposed, which significantly enhanced the model's prediction accuracy under slippery road conditions. This research provides a reliable theoretical foundation for subsequent control algorithm design and virtual testing, as well as critical support for the development of autonomous driving systems.
Keywords: Vehicle Dynamics Model；Tire Force Calculation；Multi-Body Dynamics；Lateral Stability；Slippery Road Conditions
目 录
摘 要 I
Abstract II
一、绪论 1
（一）车辆动力学模型研究背景与意义 1
（二）国内外研究现状分析 1
（三）本文研究方法与技术路线 1
二、车辆动力学基础理论与建模方法 2
（一）车辆动力学基本原理概述 2
（二）动力学模型的数学描述 2
（三）常见建模方法及其特点 3
三、车辆动力学模型建立与优化 4
（一）模型参数选取与定义 4
（二）关键动力学方程推导 4
（三）模型优化策略分析 5
（四）不确定性因素对模型的影响 5
四、车辆动力学仿真分析与验证 6
（一）仿真平台搭建与工具选择 6
（二）典型工况下的仿真结果分析 6
（三）模型准确性验证方法 7
（四）仿真结果的应用前景探讨 7
结 论 8
致 谢 9
参考文献 10
